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Study on the Control Strategies of Offshore

Drilling Crown-block Heave Compensation
System with Compound Cylinders
ZHENDONG LIU1, YANTING ZHANG1, XIAOGUANG YU1, JINGKAI CHEN1, ZHIKUN WANG1,
DINGYA WANG2, MINGXING DUAN3, XINMING MU2, AND LUMENG HUANG1
1
School of mechanical and electronic engineering, China University of Petroleum, Qingdao 266580, China
2
CNPC Baoji Oilfield Machinery Company Limited, Baoji 721002, China
3
China Classification Society, Beijing 100007,China
Corresponding author: Zhendong Liu (liuzd28@163.com) and Yanting Zhang(ytzhang68@163.com)
This work was funded by the National Key Research and Development Plan of China (2017YFC-0804502; 2017YFC0804505), the marine engineering
research project of the Ministry of Industry and Information Technology of China (jointed [2014] no. 504), the special fund project of basic scientific
research operating expenses of central universities of China (18CX02017A).

ABSTRACT To overcome the effect of floating platform heave motion on the drilling operation, a new
crown-block heave compensation system with compound cylinders is developed. The new heave
compensation system has certain advantages, such as low derrick, short hydraulic pipeline, compact
structure, easy operation, etc. The numerical calculation functions of the new heave compensation system
are established based on the theories of fluid dynamics and theoretical mechanics. The entire model was
built using the Simulink module of MATLAB with a hierarchical structure. As the core component of the
compensation system, four control strategies are established to improve the compensation performance,
including the PID control, fuzzy control, fuzzy PID control, and Terminal Sliding Mode (TSM) control.
Laboratory equipment with a ratio of 1:5 to the new compensation system was designed and developed. The
simulation and experimental results show that the new compensation system achieves a good compensation
rate of more than 90% under different heave conditions. Among these four strategies, the TSM control
strategy generates the highest compensation rate and lowest power fluctuation for the compensation
cylinders.

INDEX TERMS compound cylinder, control strategy, crown-block, drill string heave compensation,
offshore drilling platform, terminal sliding mode (TSM), experimental validation.

I. INTRODUCTION block hook heave compensation system with compound

Many countries have been strengthening the exploration and
development of deep-sea oil and gas due to their increasing
demand. The floating offshore drilling platform produces a
rocking motion in six different directions, which are caused
by the waves. A drill string heave compensation system is
crucial to overcome the heave motion of the platform during
the drilling process [1]-[2].
Based on the location of installation, the currently used
common drill string heave compensation systems include the
dead wire rope compensation, winch compensation, traveling
block hook compensation, and crown-block compensation
[3]-[4].
The design of the drill string heave compensation system
has been extensively investigated. Jiang proposed a traveling
cylinders and analyzed the effects of passive, active, and
semi-active compensation methods on the system
performance and energy consumption [5]. The traveling
block hook heave compensation system is generally used for
shallow-water drilling or deep-water exploration ship
sampling due to its low compensation load. Huang developed
a new semi-active winch heave compensation system with
the 2K-H differential planetary gear system to control the
outer ring and solar wheel, respectively that compensates for
the heave movement and automatically feeds the penetration
during the drilling process, and further analyzed the hardware
decoupling control of the two movements [6]. Niu developed
a semi-active heave compensation system for a 200 T winch
that meets the design requirement to attain up to 92.9%

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compensation efficiency in the full-scale experiment [7].
However, the steel wire rope in the winch compensation
system bears the alternating bending stress and friction force
for a long duration. This increases energy consumption and
reduces reliability. Liu proposed a streamlined mechanical
semi-active heave compensation system with the active
compensation part consisting of the driving gear and rack,
which drastically improves the performance of the system [8].
The crown-block heave compensation system has been
widely utilized due to its advantages such as large bearing
capacity, small occupied deck area, high compensation rate,
and absence of moving pipeline [9]-[10].
Being the core of the compensation system, the control
strategy determines the performance of the whole system.
Based on the bivariate control model, Huang proposed the
Bang-Bang + PID dual-mode control strategy [11]. Li
proposed an adaptive double closed-loop controller for the
hydraulic valves in the active heave compensation system.
An equivalent saturation model was developed using the
predictive control method for the inner ring to ensure the
angular displacement required for the hydraulic motor
tracking process [12]. Shi predicted the motion of the marine
platform upon the improvement of the least squares support
vector machine by the artificial immune algorithm and
achieved better heave compensation performance using the
backpropagation neural network PID control strategy [13].
Richter proposed a heave prediction method on the basis of
the Levinson recursive least squares algorithm and designed
a prediction model for the trajectory planner system, and a 2-
DOF controller [14]. Woodacre developed an ocean active
heave compensation system with the model predictive
controller that decouples transmission motion up to 99.6%
[15]. Sun proposed a novel reduced adaptive fuzzy control
scheme for a class of stochastic non-strict feedback nonlinear
systems with output constraint and unknown control
coefficients [16], and adopted fuzzy decoupling control for
the lower limb exoskeleton, which is a typical multi-input
multi-output uncertain nonlinear system [17]. Based on the
FIGURE 1. The overall scheme diagram of crown-block heave compensation system.
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high order sliding mode, Yu proposed the ship heave motion
compensation and prediction algorithms [18]. However,
these control algorithms are not universal. Thus, it is
necessary to design a special controller under the specific
composition, functional parameters, and motion
characteristics of the drill string compensation system.
In this paper, a new crown-block heave compensation
system with compound cylinders is proposed. The numerical
model of the new heave compensation system is established
using the theories of fluid dynamics and theoretical
mechanics. Four control strategies, namely PID, fuzzy, fuzzy
PID, and Terminal Sliding Mode (TSM), are established. The
compensation performances of the four control strategies are
discussed. Laboratory equipment is designed and developed
to verify comprehensive compensation performance under
different working conditions and control strategies.
The remainder of this paper is organized as follows: The
new crown-block compensation system with compound
cylinders is proposed in Section II. The numerical calculation
model of the new compensation system is established in
Section III. In Section IV, the PID, fuzzy, fuzzy PID, and
TSM control strategies are described along with the
optimization of their control parameters. In Section V, the
heave compensation comprehensive performances of the four
strategies are analyzed by numerical simulation under
different sea conditions. Section VI discusses the list of
laboratory experiments performed. Finally, the conclusions
drawn from the study and their future scopes are included in
Section VII.
II. NEW CROWN-BLOCK HEAVE COMPENSATION
SYSTEM DESIGN
The compensation system was designed to satisfy the well
depth of 10000 m, compensation load of 350 t, heave stroke
of 7.62 m, and heave period of 12 s [19]. The overall scheme
of the compound cylinder semi-active crown-block
compensation system was designed and developed, as shown
in Fig. 1.
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p pηp
Qp =nV
The mechanical system primarily consists of the floating (1)
crown-block, swinging device, guidepost, and wire rope. The
hydraulic system is composed of the hydraulic oil source, where Qp, np, Vp, and ηp are the output flow, revolving speed,
proportional directional valve, compound cylinders, gas- capacity, and volume efficiency of the hydraulic pump,
liquid converters, working gas cylinders, high-pressure respectively.
auxiliary gas cylinder, and isolation valve. The electrical The flow equation of the overflow valve is:
system is made of sensors, signal acquisition module, control Q pr = Q p − Q pv (2)
unit, and output module.
where Qpr is the flow rate of the overflow valve, and Qpv is
The compound cylinder is composed of three chambers,
the flow rate of the proportional directional valve.
namely inner cavity, rod-cavity, and rod-less cavity. The rod-
For simplicity, the flow pressure characteristics of the
less cavity connects the gas-liquid converter to the working
overflow valve are linearized. The valve begins to overflow
gas cylinders in order to balance the static load of the
when system pressure exceeds the set pressure.
compensation system. The inner cavity and rod-cavity are
connected to ports A and B of the proportional directional
B. MODEL OF THE PROPORTIONAL DIRECTIONAL
valve. Upon obtaining the hydraulic energy output from the VALVE
hydraulic oil source, the proportional directional valve causes The proportional directional valve can be decomposed into
the compound cylinder piston rod to extend or retract based two parts, namely, the spool displacement module and the
on certain rules. The semi-active heave compensation flow output module [20]. Since the parameters of the spool
function is established by working in combination with the displacement module cannot be acquired accurately, it is
rod-less chamber. difficult to establish an accurate mathematical model. The
The main advantages of the new heave compensation relationship between the valve displacement xv, and valve
system are as follows: voltage u is simplified as:
1) By adopting the compound cylinder technology, the
semi-active and passive compensation system functions are xv = kxu (3)
established without the incorporation of the independent
active cylinder. The simplified structure reduces the height where xv and u are the displacement and voltage of the
and weight of the derrick. It further reduces the center of proportional directional valve spool, respectively, and kx is
gravity of the platform. the spool displacement-voltage gain coefficient.
2) The working area of the inner cavity is equal to the rod- The pressure-flow equations of the four ports in the
cavity, and the demand for flow is the same as the piston of proportional directional valve are:
the compound cylinder moves. This enables the pump and  2( Pp − PA )
valve to work properly and achieve a good control effect  QPA = C q wxv
 ρ
with ease. 
3) When the sea is relatively calm, the system can work in  Q = C wx 2 ( PB -Pt ) (4)
the passive compensation mode. This can be achieved by  BO q v
ρ
connecting the rod-cavity to the inner cavity on ceasing the 
 2( Pp − PB )
work done by the proportional directional valve since it  QPB = C q wxv ρ
adopts the Y-type medium function. The hydraulic oil in the 
two chambers is complementary to each other. The system  2 ( PA -Pt )
 Q AO = C q wxv
achieves the passive compensation function using the liquid-  ρ
air energy storage device.
where QPA, QBT, QPB, and QAT are the flow rates of P→A,
III. ESTABLISHMENT OF THE NUMERICAL B→T, P→B, and A→T, respectively. Pp, Pt, PA, and PB are
CALCULATION MODEL the pressures in the direction valve ports P, T, A, and B,
The crown-block heave compensation system is mainly respectively. w is the valve orifice area gradient, Cq is the
composed of the hydraulic oil source, proportional valve port flow coefficient, and ρ is the density of hydraulic
directional valve, compound cylinder, gas-liquid energy oil.
storage device, drill string, and hydraulic pipeline. The model The flow rates of ports A and B in the proportional
of each part is established based on the theories of fluid directional valve is expressed as [21]:
dynamics and theoretical mechanics as follows.
 2( Pp − PA ) 2 ( PA- Pt )
QA = Cq wxv [ sg ( xv ) - sg (− xv ) ] (5)
A. MODEL OF THE HYDRAULIC OIL SOURCE  ρ ρ
The hydraulic oil source is composed of the hydraulic pump 
 2 ( PB- Pt ) 2( Pp − PB )
and overflow valve. The flow-speed equation of the QB = Cq wxv [ sg ( xv ) ρ
- sg (− xv )
ρ
]
hydraulic pump is: 

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where QA and QB are the flow rates of the directional valve
ports A and B, respectively, and xv is always negative, which
indicates that the valve spool displacement is opposite to the
specified positive direction.
The function is defined as:
1, xv ≥ 0
s g ( xv ) = 
0, xv < 0
C. MODEL OF THE COMPOUND CYLINDER
Based on the compressibility of the hydraulic oil and leakage
phenomenon in the oil cylinder, the flow continuity equations
of the three chambers in the compound cylinder are as
follows [22]:
 V10 − A1 xL ɺ
Q1 = P1 − A1 xɺL + Ct ( P1 − P2 ) + Ct ( P1 − P3 )
 Ke
 V20 + A2 xL ɺ
Q2 = P2 + A2 xɺL + Ct ( P2 − P1 )
 Ke
 V30 − A3 xL ɺ
Q3 = P3 − A3 xɺL + Ct ( P3 − P1 )
 Ke
where Q1, Q2, and Q3 are the flow rates of the rod-less cavity,
rod-cavity, and inner cavity of the compound cylinder,
respectively. V10, V20, and V30 are the volumes of the rod-less
cavity, rod-cavity, and inner cavity for the compound
cylinder in the equilibrium position, respectively, and V20 is
equal to V30. A1, A2, and A3 are the working areas of the rod-
less cavity, rod-cavity, and inner cavity of the compound
cylinder, respectively. P1, P2, and P3 are the working pressure
of the rod-less cavity, rod-cavity, and inner cavity of the
compound cylinder, respectively. xL is the displacement of
the cylinder piston relative to the compound cylinder block,
Ke is the bulk elastic modulus of the hydraulic oil, and Ct is
the leakage coefficient of the hydraulic cylinder caused by
pressure difference.
The dynamic equilibrium equation of the compound
cylinder piston is given by [23]-[24]:
Fbcg = PA
1 1 + PA
3 3 − P2 A2 − mbc xL − c1xL
ɺɺ ɺ system under equilibrium.

 −sgn(xɺL )( fbc + ftc )
f = f L +L +L + f A + A + A
 bc c ( r1 r 2 r3 ) h ( r1 r 2 r3 )
where Fbcg and c1 are the load and damping coefficient of the
compound cylinder, respectively, mbc is the quality of the
compound cylinder piston and piston rod, fbc is the frictional
force between the compound cylinder piston and piston rod,
ftc is the frictional force between the crown-block and its
guidepost, fc is the coefficient of friction associated with the
seal contact length, Lr1, Lr2, and Lr3 are the circumferences of
the main piston, main piston rod, and inner cavity plunger
piston of the compound cylinder, respectively, fh is the
coefficient of friction associated with the seal projected area,
and Ar1, Ar2, and Ar3 are the seal projected area of the main
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piston, main piston rod, and inner cavity plunger piston of the
compound cylinder, respectively.
D. MODEL OF THE GAS-LIQUID ENERGY STORAGE
DEVICE
The gas-liquid energy storage device is primarily composed
(6) of working gas cylinders and a gas-liquid converter. The
change in the gas state within the working gas cylinders is
regarded as an isentropic process. The adiabatic coefficient is
set to 1. The compressibility of the hydraulic oil in the gas-
liquid converter is ignored. When the piston rod of the
compound cylinder moves, the working pressure of the gas in
the working gas cylinders is given as follows [25]:
Pg 0Vg 0
Pg =
Vg 0 + 2 A4 xgs (9)
(7) where Pg is the working pressure of the gas cylinders, Pg0 is
equivalent to Pg for the system in the equilibrium position, A4,
and xgs are the piston area and piston displacement of the gas-
liquid converter, respectively, Vg is the sum volume of the
gas cylinders and gas chamber of the gas-liquid converter,
and Vg0 is equal to Vg for the system in the equilibrium
position.
The force equilibrium equation for the piston in the gas-
liquid converter is [26]:
P4 A4 = Pg A4 − mgs ɺɺ
xgs − c1xɺgs − fgs (10)
where P4 is the pressure of the liquid chamber in the gas-
liquid converter, mgs, xgs, and fgs are the quality, displacement,
and frictional force of the gas-liquid converter piston,
respectively.
The flow continuity equation for the liquid cavity in the
gas-liquid converter is:
V40 − A4 xgs ɺ
Q4 = P4 − A4 xɺgs + Ct ( P4 − Pg ) (11)
Ke
where Q4 is the flow rate in the liquid chamber of the gas-
liquid converter, V40 is the volume of the liquid cavity for the
(8)
E. MODEL OF THE DRILL STRING LOAD
Due to the complex dynamic behavior of the drill string, it is
simplified into a spring-mass-damping system [27]. The
equivalent mass of the drill string is equal to one-third of the
total mass of drill string, according to the Rayleigh method in
the mechanical vibration theory [28]. The compensation
loads such as hook, top drive system, and the equivalent
mass of the drill string are simplified to a set of mass meq.
The equilibrium equation of the drill string is [29]:
2Fbcg cosθ − G = meq ɺɺxh + cd xɺh + Kd xh + fd + d (12)
where:
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 x h = x L cos θ − x s MATLAB [31].


 K d = EAd Ld (13)
 c = π C C ρ D ν L 24
 d N I d d d d

where θ is the angle between the compound cylinder and

vertical direction, G is the static load of the compensation
system, and meq is the equivalent dynamic mass of the
compensation system including the Top Drive System, hook,
traveling block, drill string, etc. xh is the displacement of the FIGURE 2. The model of the entire compensation system.
hook, xs is the heave displacement of the platform, cd is the
The controller is the core component of the compensation
mud viscosity, Kd, and fd are the equivalent stiffness and
system and determines the compensation performance of the
frictional force of the drill string, d is the unmodeled
entire system. A proper choice of the control strategy can
resistance, CN, ρd, and νd are the friction coefficient, density,
improve the adaptability in sea conditions of the
and average flow velocity of the drilling fluid, respectively,
compensation system, and reduce the shutdown time and
CI is the additional mass coefficient, Ld, Ad, Dd, and E are the
drilling cost.
length, cross-sectional area, diameter, and elastic modulus of
The main parameters of the entire simulation model are
the drill string.
shown in Table 1.
The viscosity resistance of the drilling fluid increases with
the increase in the drilling fluid density, flow rate, and drill TABLE 1. The main parameter list of the entire simulation model.
pipe length, and cannot be ignored for the drill string length
parameter value parameter value
of 10000 m in the hole.
A1 0.1096 m2 kx 0.0008 m/V
A2 0.00385 m2 meq 1.2×105 kg
F. MODEL OF THE HYDRAULIC PIPE
A3 0.00385 m2 mbc 3900 kg
The flow continuity equations of the pipeline between the
c1 2400 Pg0 1.85×107 Pa
hydraulic pump, proportional directional valve,
cd 6579 Pp 2.1×107 Pa
compensation cylinder, and gas-liquid accumulator are as
cq 5.2×10–3 m2/(s⋅Pa) V10 0.4 m3
follows [30]:
Ct 1.4×10–10 m3/(s⋅Pa) V20 0.014 m3
 Vpv ɺ fc 42.5N/m V30 0.014 m3
Qpv −QPA −QPB = Pp fh 5.16×104N/m2 V40 0.5 m3
 Ke
G 3.5×106 N Vg0 21 m3
 VA2 ɺ
QA −Q2 = PA (14) Kd 66818.2 N/m Ke 7×108 Pa
 Ke

V
Q −Q = B3 Pɺ IV. CONTROL STRATEGY DESIGN
 B 3 Ke B A. TRADITIONAL PID CONTROL STRATEGY

Q −Q = V14g Pɺ The PID controller has advantages such as the use of simple
 4 1 K 4 algorithms, high stability, good reliability, etc. The
 e
corresponding control difference equation is [32]:
where Vpv is the pipeline volume between the hydraulic pump i
and proportional directional valve, VA2 is the pipeline volume
between the proportional directional valve port A and the
u(k ) = KPe(k ) + KI e( j) + KD (e(k) − e(k −1)) (15)
j =0
rod-cavity of the compound cylinder, VB3 is the pipeline
volume between the proportional directional valve port B and where KI＝KP*T/Ti and Kd =KP*Td/T. u represents the output
the inner cavity of the compound cylinder, and V14g is the signal of the controller, e is the error signal, Ti and Td are the
pipeline volume between the liquid cavity of the gas-liquid integral time constant and differential time constant,
converter and the rod-less cavity of the compound cylinder. respectively. KP, KI, and KD are the proportional, integral, and
differential gain coefficients, respectively. T is the sampling
G. MODEL OF THE ENTIRE COMPENSATION SYSTEM period, and i is the sampling sequence number.
By combining the above six sub-models, the overall model of The PID parameters were adjusted manually first and then
the crown-block heave compensation system with compound adjusted using the Cohen-Coon method [33]. The step
cylinders is established, as shown in Fig. 2. The displacement responses of the compensation system are shown in Fig. 3.
xL of the piston rod in the compound cylinder and The fluctuation time is longer upon the adoption of manually
displacement xp of the crown block need to be converted by adjusted PID parameters. When the PID parameters
angle θ as the compound cylinder is tilted. This model is built optimized by Cohen-Coon method are adopted, the system
using the hierarchical design in the Simulink software of reaches the target value at 8s, and the optimized PID

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parameters are (10.36, 0.97, 4.33). fuzzy control.

FIGURE 6. Schematic diagram of the fuzzy PID control.

The discrete domains of ΔKP, ΔKI, and ΔKD are {-3, –2, –1,
0, 1, 2, 3}, {-0.6, –0.4, –0.2, 0, 0.2, 0.4, 0.6}, and {-0.3, –0.2,
FIGURE 3. The step response of the compensation system under PID
–0.1, 0, 0.1, 0.2, 0.3}, respectively. The triangle function is
control. chosen as their membership function.
The step response effects of the compensation system
B. FUZZY CONTROL STRATEGY before and after the fuzzy PID parameter optimization by the
The fuzzy control processes have advantages such as the Particle Swarm Optimization (PSO) algorithm are shown in
non-requirement for accurate modeling, strong robustness, Fig. 7 [34].
strong anti-interference, and simple control principle. Its
control structure is shown in Fig 4.

FIGURE 4. Schematic diagram of the fuzzy control.

The fuzzy controller selects seven language variables such

FIGURE 7. The step response of the compensation system under fuzzy
as {NB, NM, NS, ZE, PS, PM, PB}, discrete domain of the PID control.
input displacement error E, the rate of change of
displacement deviation EC, and the output control quantity U It is seen from Fig. 7 that the use of the PSO algorithm to
of values {-6, –5, –4, –3, –2, –1, 0, 1, 2, 3, 4, 5, 6}. Their optimize fuzzy PID control parameters improves the
membership functions are selected to be the triangle, response speed of the compensation system and shortens the
Gaussian, and trapezoid, respectively. The step responses of time taken to reach the target value from 11 s to 6 s.
the compensation system are shown in Fig. 5.
D. TSM CONTROL STRATEGY
1) ESTABLISHMENT OF THE STANDARD FEEDBACK
FORM EQUATION
The variables are defined as
x = [ x1 , x2 , x3 , x4 ]T = [ x p , xɺ p , P2 , P3 ]T . Thus, the entire system
can be expressed in a state-space form as:
 xɺ1 = x2
 (16)
FIGURE 5. The step response of the compensation system under fuzzy  xɺ2 = 2mbc [2 A1h3 ( x1 ) + 2 A3 x4 − 2 A2 x3 − 2c1 x2 −
control.  2mbc + meq

 G − meq ɺɺ xs − cd g1 ( x2 , xɺs ) − K d ( x1 − xs ) − d ]
It is seen from Fig. 5 that the adoption of trapezoid ɺ
function results in a steady-state error and small fluctuations  x3 = h1 ( x1 )[Cq wk x ug 2 ( x3 , u ) − A2 x2 − Ct ( x3 − h3 ( x1 ))]
for the Gaussian function. The triangle function possesses  xɺ = h2 ( x1 )[ A3 x2 + Cq wk x ug3 ( x4 , u ) − Ct ( x4 − h3 ( x1 ))]
 4
advantages of fast response, absence of steady-state error, 
and non-fluctuation. The system reaches the target value at 7
s upon the adoption of the triangle function. where:
h1 ( x1 ) = Ke (V20 + A2 x1 ) (17)
C. FUZZY PID CONTROL STRATEGY h ( x ) = K (V − A x )
The fuzzy PID control strategy shows good performance in  2 1 e 30 3 1

h3 ( x1 ) = Pg 0Vg 0 (Vg 0 + 2 A1 x1 )

terms of short adjustment time, small overshoot, high steady- 
 g1 ( x2 , xɺs ) = x2 − xɺs
state accuracy, and good robustness. The corresponding 
control structure is shown in Fig. 6. The fuzzy method was  g2 ( x3 , u) = sg (u) 2 ( Pp − x3 ) ρ- sg (−u ) 2 ( x3 − Pt ) ρ

used to realize the online automatic adjustment of PID  g ( x , u) = s (u) 2 ( x − P ) ρ- s (−u) 2 ( P − x ) ρ
parameters. Thus, it combines the advantages of PID and  3 4 g 4 t g p 4

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As a practical closed-loop control system, its variables are boundness and convergence of the system.
always constrained. The following assumptions are made. d is the unmodeled uncertainty in the system [36]. It is
Assumption 1: The displacement x L , velocity xɺ L , assumed to be bounded as d < dmax .
accelerated velocity ɺxɺL , and differential of acceleration ɺɺɺ
xL A terminal sliding surface was designed for the
of the compound cylinder are limited. compensation system as:
Assumption 2: The pressure of P2 and P3 are limited, with
0 ≤ Pt ≤ P2 ≤ Pp, 0 ≤ Pt ≤ P3 ≤ Pp. s = eɺ1 + τ e1α1 = e2 + τ e1α1 (20)
Equation (16) is converted into a standard feedback form
to make use of the back-stepping technique, and a new where τ and α1 are positive real numbers. As e1 decreases or
variable x3 = x3 − x4 is defined, as A2 is equal to A3, the approaches zero, the sliding surface s decreases or tends to
entire system can be rewritten as: zero.
Taking the derivative of both sides of Equation (20):
 xɺ1 = x2
 sɺ = eɺ2 + τα1e1α1 −1eɺ1 (21)
 xɺ2 = 2mbc [2 A1h3 ( x1 ) − 2 A2 x3 − c1 x2 − G − meq ɺɺ xs
 2mbc + meq (18)
 The Lyapunov function is defined as:
 − cd f1 − K d f 2 − d ]
 xɺ = − f x + f u- f 1 2
V1 = s
 3 3 2 4 5
2 (22)
 f1 = g1 ( x2 , xɺs )
f =x −x Taking the derivative of both sides of Equation (22):
 2 1 s

 f3 = h1 ( x1 ) A2 + h2 ( x1 ) A3 Vɺ1 = ssɺ (23)


 f 4 = Cq wk x [h1 ( x1 ) g 2 ( x3 , u )- h2 ( x1 ) g3 ( x4 , u )]
 f = h ( x )C ( x − h ( x )) − h ( x )C ( x − h ( x )) A virtual control quantity α3 was considered as follows:
 5 1 1 t 3 3 1 2 1 t 4 3 1


1  meq ( 2mbc + meq ) + 2mbc
α3 = 2 A1h3 ( x1 ) − c1 x2 − G − xs −
ɺɺ
where [ x1 , x2 , x3 ] =  x p , xɺ p , x3 - x4  =  x p , xɺ p , P2 - P3  . 2 A2 

2mbc + meq (24)
As the compensation cylinders require frequent 2mbc + meq 
commutation and the gas-liquid energy storage device greatly cd f1 − K d f 2 + τα1e1α1 −1e2 + η sgn(s)
2mbc 
influences the system performance, a double-loop control
structure with displacement tracking as the outer ring and If z3 =α3 − x3 , then:
pressure control as the inner ring is designed to decrease the
difficulty in adjusting the parameter of the sliding mode 2mbc
controller. The input signal u of the controller is designed sɺ = [ 2 A1h3 ( x1 ) − 2 A2 x3 − c1 x2 − G −
2mbc + meq
based on the reverse step method. The Lyapunov function is
constructed to prove that the designed controller satisfies the meq ( 2mbc + meq ) + 2mbc
Lyapunov stability. xs − cd f1 − K d f 2 − d −
ɺɺ (25)
2mbc + meq
2) STRUCTURAL DEVIATION EQUATION
2 A2α3 + 2 A2α3 ] + τα1e1α1 −1e2
As e1 = x p − xs = x1 − xs , and e2 = eɺ1 = xɺ p − xɺs are defined [35],
2mbc
then: = [ −d −η sgn(s) + 2 A2 z3 ]
2mbc + meq
 eɺ1 = e2
 eɺ = ɺɺ
 2 x p − xs = x1 − xs = x2 − xs
ɺɺ ɺɺ ɺɺ ɺ ɺɺ Substituting Equation (25) into Equation (23):
 2 mbc (19) 2mbc 2mbc 4 A2 mbc
 = [2 A h ( x ) − 2 A x − c x − G − Vɺ1 = ssɺ = − d ⋅s − η⋅ s + z3 ⋅ s
 2 mbc + meq
1 3 1 2 3 1 2 2mbc + meq 2mbc + meq 2mbc + meq
 (26)
meq ( 2 mbc + meq ) + 2 mbc
2mbc 4 A2 mbc
 =− [η + d ⋅ sgn(s)] ⋅ s + z3 ⋅ s
 x s − c d f1 − K d f 2 − d ]
ɺɺ 2mbc + meq 2mbc + meq
 2 mbc + meq 2mbc 4 A2 mbc
≤− η − d  ⋅ s + z3 ⋅ s
2mbc + meq  2mbc + meq
3) DESIGN OF THE DEVIATION EQUATION VIRTUAL
QUANTITY α3 BY REVERSE STEP METHOD 4) DESIGN CONTROL LAW U
The complexity of the nonlinear system was reduced using It was assumed that z3 = 0 to ensure the control stability of the
an inverse step design. The introduction of dummy variables system, and thus x3 = α3 .
and the construction of the Lyapunov function guarantee the

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Taking the derivative of z3 : to 4 s using the PSO algorithm to optimize the TSM control
parameters.
zɺ3 = αɺ3 − xɺ3 = αɺ3 + f3 x2 − f 4u + f5 (27)
V. SIMULATION RESULT AND ANALYSIS
The actual output u is designed as: A. ANALYSIS OF VARIOUS PARAMETERS UNDER THE
GIVEN HEAVE CONDITION
1  α 4 A2 mbc 
u=  f 3 x2 + f 5 + αɺ 3 + c3 z3 2 + s (28) The semi-active compensation effects of the four control
f 4  2mbc + meq  strategies under the sinusoidal heave condition of amplitude
2.5 m and a cycle of 12 s are shown in Fig. 9, Fig. 10, Fig. 11
then:
and Fig. 12.
4 A2mbc
zɺ3 = −c3 z3α2 − s (29)
2mbc + meq

The Lyapunov function was selected as:

1 2
V = V1 + z3 (30)
2
Taking the derivative of Equation (31):
Vɺ = Vɺ1 + z3 zɺ3
2mbc 4 A2 mbc
≤− η − d  s +
 z3 s +
2mbc + meq 2mbc + meq
(31)
 4 A2 mbc 
z3  −c3 z3α 2 − s
 2 mbc + meq 
2mbc
≤- η − d  s − c3 z31+α2 < 0
2mbc + meq 

where η is taken to be greater than dmax. c3 is positive, and α2

is a fraction with odd numbers as the numerator and
FIGURE 9. The comparison of the compensation effect under the
denominator, and the denominator is bigger than the sinusoidal heave condition (2.5 m, 12 s).
numerator.
The stability of the designed control system is shown by It is seen from Fig. 9 that the maximum steady-state
the Lyapunov stability. displacement of the hook is 0.143 m, 0.112 m, 0.096 m, and
5) CONTROL PARAMETER OPTIMIZATION
0.072 m, respectively, and the compensation ratio is 94.28%,
The PSO algorithm is used to optimize the main parameters 95.52%, 96.16%, and 97.12%, respectively for PID, fuzzy,
fuzzy PID, and TSM control strategies. The TSM strategy
of the TSM controller, such as α1, α2, τ, η, etc. The step
has the highest displacement compensation effect among the
response effects of the compensation system before and after
four control strategies.
optimization are shown in Fig. 8. The optimized TSM
parameters are α1 = 5/7, α2 = 1, τ = 3, and η = 7.46×105.

FIGURE 8. The step response of the compensation system under TSM

control.

It is seen from Fig. 8 that the TSM control has advantages

of fast response, absence of overshoot, and zero fluctuation.
Also, the time to reach the target value is shortened from 5 s FIGURE 10. The comparison of active chamber pressure under the
sinusoidal heave condition (2.5 m, 12 s).

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B. ANALYSIS OF THE COMPENSATION EFFECT

UNDER DIFFERENT HEAVE CONDITIONS
The compensation effects of the four control strategies under
the random heave condition of amplitude 3.81 m and a cycle
of 12 s are shown in Fig. 13. It is seen from the simulation
results that the maximum displacement of the hook is 0.237
m, 0.192 m, 0.179 m, and 0.159 m, respectively, for PID,
fuzzy, fuzzy PID, and TSM control strategies.

FIGURE 11. The comparison of active chamber flow under the

sinusoidal heave condition (2.5 m, 12 s).

FIGURE 13. The comparison of the compensation effect on random

heave condition (3.81 m, 12 s).

FIGURE 12. The comparison of semi-active compensation power The comparison of the compensation ratio of the four
under the sinusoidal heave condition (2.5 m, 12 s). control strategies under different heave conditions are shown
in Table 2 and Fig. 14, under 2.5 m sinusoidal heave, 2.5 m
It is seen from Fig. 10, Fig. 11, and Fig. 12 that the
random heave, 3.81 m sinusoidal heave, and 3.81 m random
maximum working pressure of the active chamber is 20.8
heave conditions.
MPa for PID, fuzzy, and fuzzy PID control strategies.
However, the maximum working pressure of the active TABLE 2. The comparison table of compensation effect under different
chamber for the TSM control strategy is only 18.7 MPa. The heave conditions.
maximum flow of the active chamber is 0.0095 m3/s, and the Heave condition PID Fuzzy Fuzzy PID TSM
peak power of the semi-active compensation system is 189
2.5 m sinusoidal 94.28% 95.52% 96.16% 97.12%
kW in the four control strategies. However, the average
power of the semi-active compensation system is 120.9 kW, 2.5 m random 94.08% 95.32% 96.04% 96.8%
123.1 kW, 121.9 kW, and 116.5 kW for PID, fuzzy, fuzzy 3.81 m sinusoidal 94.04% 95.19% 95.51% 96.03%
PID, and TSM control strategies, respectively. 3.81 m random 93.92% 94.96% 95.3% 95.83%
The fluctuation amplitudes for the pressure and flow curve Average 94.08% 95.25% 95.75% 96.45%
of the active chamber are the largest under the fuzzy PID
control strategy and the smallest under the TSM strategy. It is seen from Fig. 14 that the compensation rates of the
Compared to the PID and fuzzy controls, the fuzzy PID PID and fuzzy controls are low among the four control
control strategy achieves a better compensation effect strategies. However, the difference in the compensation rates
through quick adjustment. under the four working conditions is small, which proves that
During the adoption of the TSM control strategy, the the stabilities of PID and fuzzy controls are good. The
power curve of the semi-active compensation system has no compensation rate of fuzzy PID control is higher than that of
obvious fluctuation, and the average power is small the fuzzy control, with just a difference of 0.86% in the
compared to the other three control strategies.

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compensation rate under the four working conditions. This
proves that the response speed and compensation accuracy of
the fuzzy PID control is high. Although the compensation
rates of the TSM control under the four operating conditions
differ by 1.29%, which is larger than that of the other three
control strategies, the compensation rate is always the highest.
This proves that the TSM control has good response speed,
reliability, and robustness.
VI. SYSTEM EXPERIMENTAL VERIFICATION
The laboratory equipment with a ratio of 1:5 to the new
crown-block heave compensation system, with a design load
of 2.8 t, and a compensating stroke of 1.2 m is shown in Fig.
16.

FIGURE 16. The laboratory equipment for the crown-block heave

compensation system. 1 Heave Simulation Cylinder, 2 Control Cabinet,
3 Heave Compensation Compound Cylinder, 4 Traveling-block, 5 Drill
FIGURE 14. The comparison of the compensation effect under String Load Simulation Cylinder, 6 Hydraulic Accumulator, 7 Hydraulic
different heave conditions. Power Unit, 8 Swing Arm, 9 Pulley, 10 Guidepost, 11 Crown-block.

The system power comparison of the four control The laboratory equipment does not simulate the heave
strategies under different heave conditions is shown in Table motion of the platform directly but achieves the effect of
3 and Fig. 15 with 2.5 m sinusoidal heave and 3.81 m heave motion of the platform by simulating a change in the
sinusoidal heave. force. As the piston rod of the heave simulation cylinder
extends or retracts, the simulated load of the drill string is
TABLE 3. The comparison table of the system power under different changed through the wire rope. After the signal is detected by
heave conditions.
the system, the piston rod of the compensation compound
Heave condition PID Fuzzy Fuzzy PID TSM cylinder is driven to retract or extend to achieve the effect of
Peak Power/kW 187 189 189 189 the compensating heave motion.
2.5m
sinusoidal The compensation effect of the control system is verified
Average Power/kW 120.9 123.1 121.9 116.5
using a matrix experiment performed under the simulated
3.81m Peak Power/kW 277 276 278 269
heave amplitude of 200–500 mm, heave period of 8–15 s,
sinusoidal Average Power/kW 175.6 178.4 177 163.1 and four control strategies. The experimental compensation
effect under the fuzzy PID control with the amplitude of 500
mm and heave period of 12 s is shown in Fig. 17.

FIGURE 17. The compensation effect of the laboratory equipment

FIGURE 15. The comparison of the system power under different under sinusoidal heave condition (500 mm, 12 s) using the fuzzy PID
heave conditions. control strategy.

It is seen from Fig. 15 that the peak power of the four
control strategies are basically equal, but the average power
of the TSM control is the lowest. This is due to the less
fluctuating pressure and flow curve, and low invalid work
during the compensation process under the TSM control
strategy.
It is seen from Fig. 17 that the compensation compound
cylinder closely follows the motion of the heave simulation
cylinder, with the maximum error not exceeding 26.3 mm
and a compensation rate of 94.7%.
The compensation effects of the four control strategies are
obtained from various experimental data, as shown in Table
4.

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TABLE 4. The compensation rate comparison table of the laboratory
equipment under different control strategies
Compensation rate PID Fuzzy Fuzzy PID
Minimum 90.8% 92.8% 93.9%
Maximum 94.1% 95.0% 95.5%
Average 92.6% 93.8% 94.7%
It is seen from the above test results that the new semi-
active crown-block heave compensation system achieves a
good compensation effect under different heave conditions
and different control strategies, among which TSM control is
the best.
VII. CONCLUSION
In this study, a new semi-active crown-block heave
compensation system with compound cylinders has been
proposed. This could be achieved through the optimization of
the cavity area of the compound cylinder, simultaneous
establishment of the semi-active control and passive
compensation system function, ceased operation of the
separate cylinder system, simplification of the system
structure, and effective reduction of the height and weight of
the derrick. Especially, the reduction in the center of gravity
height of the platform is most conducive.
The dynamic numerical calculation model of the new
crown-block heave compensation system is established. Four
control strategies, namely, PID, fuzzy, fuzzy PID, and TSM,
are designed for the compensation system. The
comprehensive performance of the four strategies is analyzed
by numerical simulation under different sea conditions. The
results show that the compensation rate is more than 94%,
with the TSM control strategy generating the highest
compensation rate of 97%. Among the four control strategies,
the TSM control offers advantages such as fast response,
high reliability, good robustness, high compensation rate,
absence of overshoot, low pressure and flow fluctuation, low
energy consumption, etc.
According to the principle of similitude, laboratory
equipment with a ratio of 1:5 to the new crown-block heave
compensation system is designed and developed. The
comprehensive compensation performance of the experiment
system under different working conditions and control
strategies has been tested. The results show that the
compensation rate is more than 90%. The feasibility and
effectiveness of the proposed scheme and control strategies
of the new semi-active crown-block heave compensation
system have been verified.
In future studies, new control strategies will be introduced
to increase the compensation rate of the heave compensation
system. Also, the energy-saving technologies for hydraulic
systems such as secondary regulation and load sensitivity
will be studied.
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VOLUME XX, 2020
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International Conference on Engineering and Emerging engineering from Rice University, Houston, USA,
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China Petroleum Institute, Chengdu, China, in
2003. He is currently the dean of Baoji Petroleum
Machinery co. LTD. Research Institute. His
current research interest includes oil and gas
drilling equipment technology on land and sea.

VOLUME XX, 2020 9

This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2020.3015720, IEEE
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MINGXING DUAN received the M.E. degree in

oil-gas well engineering from China University of
Petroleum, Beijing, China, in 2009. He is currently
a senior engineer at China Classification Society,
Beijing, China. His current research interest
includes offshore oil equipment inspection
technology.

XINMING MU received the M.E. degree in

mechatronic engineering from Xi'an Technological
University, Xi'an, China, in 2006. She is currently
a senior engineer at Baoji Petroleum Machinery co.
LTD. Research Institute, Chengdu, China. Her
current research interest includes the offshore oil
and gas drilling equipment.

LUMENG HUANG received the B.E. degree in

mechanical design and manufacturing and
automation, and Ph.D. degree in mechatronic
engineering from China University of Petroleum,
Qingdao, China, in 2009 and 2015, where he is a
lecturer and master's supervisor. His current
research interest includes electromechanical
control.

VOLUME XX, 2020 9

This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/.